/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.h
  * @brief          : Header for main.c file.
  *                   This file contains the common defines of the application.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
extern uint8_t Pixel[128];
extern uint8_t CCD_Zhongzhi,CCD_Yuzhi,PID_Send,Flash_Send; 
extern int Encoder_Left1,Encoder_Right1,Encoder_Left2,Encoder_Right2;
	
extern float  Velocity_KP,
							Velocity_KI,
							Velocity_Target_A,
							Velocity_Target_B,
							CCD_KP,CCD_KD,
							CCD_Error,
							CCD_Error_Temp,
							CCD_PWM;	
extern int Left_falg_Bai,Right_falg_Bai;
uint32_t Get_Adc1(ADC_HandleTypeDef* hadcx);    //声明ADC数据获取函数

/* USER CODE END Includes */

/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */

/* USER CODE END ET */

/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */

/* USER CODE END EC */

/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */

/* USER CODE END EM */

/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);

/* USER CODE BEGIN EFP */

/* USER CODE END EFP */

/* Private defines -----------------------------------------------------------*/
#define LED_Pin GPIO_PIN_3
#define LED_GPIO_Port GPIOE
#define LED1_Pin GPIO_PIN_4
#define LED1_GPIO_Port GPIOE
#define KEY1_Pin GPIO_PIN_8
#define KEY1_GPIO_Port GPIOF
#define KEY1_EXTI_IRQn EXTI9_5_IRQn
#define KEY0_Pin GPIO_PIN_9
#define KEY0_GPIO_Port GPIOF
#define KEY0_EXTI_IRQn EXTI9_5_IRQn
#define Servo_Pwm_Pin GPIO_PIN_5
#define Servo_Pwm_GPIO_Port GPIOA
#define Motor_Pwm_Pin GPIO_PIN_6
#define Motor_Pwm_GPIO_Port GPIOA
#define Caputure_Pin GPIO_PIN_9
#define Caputure_GPIO_Port GPIOE
#define CLK_Pin GPIO_PIN_14
#define CLK_GPIO_Port GPIOD
#define SI_Pin GPIO_PIN_15
#define SI_GPIO_Port GPIOD
#define IN1_Pin GPIO_PIN_3
#define IN1_GPIO_Port GPIOG
#define IN2_Pin GPIO_PIN_4
#define IN2_GPIO_Port GPIOG
/* USER CODE BEGIN Private defines */

/* USER CODE END Private defines */

#ifdef __cplusplus
}
#endif

#endif /* __MAIN_H */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
